-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathsimple_gui.html
169 lines (152 loc) · 7.9 KB
/
simple_gui.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML5//EN" "http://www.w3.org/TR/html4/strict.dtd">
<html>
<head>
<meta content="text/html; charset=ISO-8859-1" http-equiv="content-type">
<meta name="viewport" content="width=device-width, height=device-height, initial-scale=0.65, user-scalable=yes">
<title>Rosbridge Simple GUI</title>
<script type="text/javascript" src="js/eventemitter2.min.js"></script>
<script type="text/javascript" src="js/mjpegcanvas.min.js"></script>
<script type="text/javascript" src="js/roslib.min.js"></script>
<script type="text/javascript" src="js/simple_gui.js"></script>
<script type="text/javascript">
function init() {
var readyStateCheckInterval = setInterval(function() {
if (document.readyState === "complete") {
init();
clearInterval(readyStateCheckInterval);
}
}, 100);
}
</script>
<style type="text/css">
body,input {
font-family: sans-serif narrow;
font-size: 14pt;
}
.checkbox {
width: 20px;
height: 20px;
}
table,tr,td,th {
text-align: center;
white-space: nowrap;
}
</style>
</head>
<body onload="init();init_ros();">
<form name="simple_gui" method="get" action="./">
<table width="100%" cellpadding="2" cellspacing="2" style="border: 1px solid;">
<tbody>
<!-- ===== Left Panel ===== -->
<tr>
<td>
<table style="text-align: left; width: 100%;" border="1" cellpadding="2" cellspacing="2">
<tbody>
<!-- *** Table Row 1: Connect/Disconnect to the rosbridge Server -->
<tr>
<td colspan="2">
<div style="white-space: nowrap; vertical-align: middle; text-align: center; margin-left: 10px;">
Server Hostname or IP: <input type="text" id="rosbridgeHost" value=""> Port: <input
type="text" id="rosbridgePort" size="5" value=""> <nobr />
Connect: <input id="connectROS" type="checkbox" class="checkbox" checked
onClick="connectDisconnect();">
</div>
</td>
</tr>
<!-- *** Table Row 2: Display the video image -->
<tr>
<td colspan="2" width="100%"><div id="videoCanvas" style="display: block;"></div><br/></td>
</tr>
<!-- *** Table Row 3: Publish a message on the /chatter topic -->
<tr>
<td>
<table id="pubSubBlock">
<tr>
<td style="vertical-align: top; text-align: right;">Publish: <input id="chatterToggle" type="checkbox"
class="checkbox" onClick="toggleChatter();">
</td>
<td style="vertical-align: top; text-align: left;"> Topic: /chatter
Message: <input type="text" size="30" id="chatterMessage" value="Greetings Humans!"
onInput="updateChatterMsg(this.value);">
</td>
</tr>
<!-- *** Table Row 4: Subscribe to the message on the /chatter topic -->
<tr>
<td style="vertical-align: top; text-align: right;">Subscribe: <input id="chatterSub"
type="checkbox" class="checkbox" onClick="subChatter();">
</td>
<td style="vertical-align: top; text-align: left;"> Topic: /chatter
Message: <input readonly="readonly" type="text" size="30" id="chatterData">
</td>
</tr>
<!-- *** Table Row 5: Set a parameter value -->
<tr>
<td style="vertical-align: top; text-align: right;">Set Parameter:</td>
<td style="vertical-align: top; text-align: left;"> Name: <input type="text"
id="setParamName" value="test_param"> Value: <input type="text" id="setParamValue"
value="10" size="5"> <input id="setParameter" type="button" value="Set Param"
onClick="setROSParam();">
</td>
</tr>
<!-- *** Table Row 6: Get a parameter value -->
<tr>
<td style="vertical-align: top; text-align: right;">Get Parameter:</td>
<td style="vertical-align: top; text-align: left;"> Name: <input type="text"
id="getParamName" value="test_param"> Value: <input type="text"
readonly="readonly" id="getParamValue" size="5"> <input id="getParameter" type="button"
value="Get Param" onClick="getROSParam();">
</td>
</tr>
</table>
</td>
</tr>
</tbody>
</table>
</td>
<!-- ===== Right Panel ===== -->
<td valign="top" border="1">
<h2>ROS Remote Control</h2>
<table width="100%" border="0" cellpadding="0" cellspacing="0">
<tbody>
<tr valign="top">
<td colspan="3"><label id="cmdVelStatusMessage"></label><br><br>
<b><label id="navInstructions"></label></b>
</td>
</tr>
<tr>
<td colspan="3" style="text-align: center;"><img src="images/arrow-up.jpg" id="arrow_up" width="100" onTouchEnd="timedStopRobot();" onTouchStart="setSpeed('forward');clearTimedStop();" onClick="setSpeed('forward');" alt="" align="middle">
</td>
</tr>
<tr>
<td width="33%" style="text-align: center;"><img src="images/arrow-left.jpg" width="100" onTouchEnd="timedStopRobot();" onTouchStart="setSpeed('left');clearTimedStop();" onClick="setSpeed('left');" alt="" align="middle">
</td>
<td width="33%" style="text-align: center;"><img src="images/stop.jpg" width="100" onClick="stopRobot('forward');" alt="" align="middle"></td>
<td width="33%" style="text-align: center;"><img src="images/arrow-right.jpg" width="100" onTouchEnd="timedStopRobot();" onTouchStart="setSpeed('right');clearTimedStop();" onClick="setSpeed('right');" alt="" align="middle"></td>
</tr>
<tr>
<td colspan="3" style="text-align: center;"><img src="images/arrow-down.jpg" width="100" onTouchEnd="timedStopRobot();" onTouchStart="setSpeed('backward');clearTimedStop();" onClick="setSpeed('backward');" alt="" align="middle">
</td>
</tr>
<tr>
<td align="right"><span style="font-size: 14pt;">Max Linear Spd:</span></td>
<td><input type="range" id="maxLinearSpeed" min="0.01" max="0.5" step="0.01" value="0.2"
onChange="writeStatusMessage('maxLinearSpeedDisplay', this.value);"
onMouseUp="setMaxLinearSpeed(this.value);" onInput="maxLinearSpeedDisplay.value=this.value;"></td>
<td><span style="font-weight: bold;"><output id="maxLinearSpeedDisplay" size="4"></output></span></td>
</tr>
<tr>
<td align="right"><span style="font-size: 14pt;">Max Angular Spd:</span></td>
<td><input type="range" id="maxAngularSpeed" min="0.01" max="2.0" step="0.01" value="1.0"
onChange="writeStatusMessage('maxAngularSpeedDisplay', this.value);"
onMouseUp="setMaxAngularSpeed(this.value);" onInput="maxAngularSpeedDisplay.value=this.value;"></td>
<td><span style="font-weight: bold;"><output id="maxAngularSpeedDisplay" size="4"></output></span></td>
</tr>
</tbody>
</table>
</td>
</tr>
</tbody>
</table>
</form>
</body>
</html>